CN112918521A - Wireless positioning method and system for rail-mounted vehicles - Google Patents
Wireless positioning method and system for rail-mounted vehicles Download PDFInfo
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- CN112918521A CN112918521A CN202110168374.4A CN202110168374A CN112918521A CN 112918521 A CN112918521 A CN 112918521A CN 202110168374 A CN202110168374 A CN 202110168374A CN 112918521 A CN112918521 A CN 112918521A
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- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 abstract description 8
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- 238000005516 engineering process Methods 0.000 description 3
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- 230000005484 gravity Effects 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses a wireless positioning method and a wireless positioning system for a rail running vehicle, wherein a sensor and a wireless transmitting module are arranged on wheels of the vehicle, and the method comprises the following steps: the sensor detects the running state of the vehicle and collects the running state data of the vehicle; the sensor transmits the operation state data to the wireless transmitting module, and the wireless transmitting module sends the operation state data to the wireless receiving module; the wireless receiving module is connected with a control system, wherein the wireless receiving module transmits the received running state data to the control system so as to process the received running state data. The method and the system provided by the invention are used for solving the problems of positioning distortion, incapability of long-distance measurement and short service life of detection equipment in the prior art. The technical effects of high-precision positioning, long-distance measurement and long service life of detection equipment can be realized.
Description
Technical Field
The invention relates to the technical field of rail vehicle positioning, in particular to a wireless positioning method and system for a rail running vehicle.
Background
With the continuous implementation of intelligent manufacturing in the steel field, the original equipment is often required to be modified to meet the requirements of intelligent manufacturing. In steel plants, a large number of rail-bound vehicles, such as slag cars, ladle cars, etc., are used. Because the equipment is put into production earlier and a vehicle positioning technology is not provided, the implementation of intelligent control and management on the equipment is restricted.
At present, the common vehicle positioning methods in the field include laser positioning, gray bus, radar, infrared and other related technologies. The laser positioning method is used for determining the position of a positioning object by emitting laser to the positioning object and measuring the round trip time of the laser; the gray bus performs communication by electromagnetic coupling between the flat cable and the antenna box which are close to each other, and detects the position of the antenna box in the length direction of the gray bus while communicating.
However, in the process of implementing the technical solution of the invention in the embodiments of the present application, the inventors of the present application find that the above-mentioned technology has at least the following technical problems:
the operation environment of a steel mill is particularly severe, and the operation vehicles and personnel often pass through the feedback detection of an interference positioning source, so that the positioning is distorted, and the precision control of equipment is inaccurate;
in addition, the detection equipment of the conventional positioning method such as a gray bus method is installed on a track and often bears the heavy pressure of a vehicle, so that the equipment is easy to damage and has short service life. However, as in the laser positioning method, the laser models are different, the distance range that can be measured is also different, and if the measured distance exceeds the range defined by the laser model, the measurement accuracy is significantly reduced, that is, long-distance measurement cannot be realized.
That is to say, the positioning method for the rail-mounted vehicles used in the prior art at least has the problems of positioning distortion, incapability of long-distance measurement and short service life of detection equipment.
Disclosure of Invention
The embodiment of the application provides a wireless positioning method for a rail-mounted vehicle, solves the problems of vehicle positioning distortion, incapability of long-distance measurement and short service life of detection equipment in the prior art, and achieves the technical effects of high-precision positioning, long-distance measurement and long service life of the detection equipment.
The application provides the following technical scheme through an embodiment of the application:
in a first aspect, a wireless positioning method for a rail-mounted vehicle is provided, wherein a sensor and a wireless transmitting module are mounted on a wheel of the vehicle, and the method comprises the following steps:
the sensor detects the running state of the vehicle and collects the running state data of the vehicle;
the sensor transmits the operation state data to the wireless transmitting module, and the wireless transmitting module sends the operation state data to the wireless receiving module; the wireless receiving module is connected with a control system, wherein the wireless receiving module transmits the received running state data to the control system so as to process the received running state data.
Preferably, the sensor is an encoder, and the sensor and the wireless transmission module are connected and jointly mounted on a wheel of the vehicle and move along with the wheel.
Optionally, the sensor detects an operating state of the vehicle, including: the sensor detects whether the vehicle is moving, a moving direction, a moving speed or a moving distance.
Preferably, the operating state data is a pulse signal, and the sensor transmits the pulse signal to the wireless transmission module, wherein the operating state of the vehicle is reflected by the presence or absence of a pulse, the pulse frequency, or the positive and negative states of the pulse.
Preferably, the sending module sends the operation status data to the receiving module, including: the receiving frequency of the wireless receiving module is adjusted to be consistent with the sending frequency of the wireless sending module, so that the wireless sending module sends the running state data out.
In a second aspect, there is provided a wireless location system for a rail-bound vehicle, comprising: the vehicle, the sensor and the wireless transmitting module which are arranged on the wheel of the vehicle, and the wireless receiving module and the control system which are connected with the control system;
the sensor is used for detecting the running state of the vehicle and collecting the running state data of the vehicle;
the wireless transmitting module is used for transmitting the running state data to the wireless receiving module;
the wireless receiving module is used for transmitting the received running state data to the control system;
the control system is used for processing the received running state data.
Preferably, the wireless transmission module supports a hardware interface and a communication protocol of the sensor.
In a third aspect, a rail-mounted vehicle is provided, wherein the vehicle is a vehicle mounted on a rail in a steel plant, and a sensor and a wireless transmission module are mounted on wheels of the vehicle.
The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:
1. data collected by the sensor is transmitted to the control system in a wireless transparent transmission mode through the wireless transmitting module and the wireless receiving module, so that interference of surrounding operation vehicles and personnel on a positioning source can be effectively avoided, the positioning precision is ensured, and equipment can be accurately controlled;
2. the sensor and the wireless transmitting module are positioned on the vehicle, so that the running state of the vehicle can be detected in real time, the limitation of the distance between the positioning device and the vehicle is avoided, and long-distance measurement can be realized;
3. because the sensor is installed on the vehicle instead of the track, the vehicle is prevented from being stressed by gravity, and the service life is long.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts. In the drawings:
FIG. 1 is a flow chart of a method for wirelessly locating a rail vehicle according to an embodiment of the present invention;
FIG. 2 is a diagram of a wireless location system for a rail-bound vehicle in an embodiment of the present invention;
fig. 3 is a diagram of a rail-bound vehicle in an embodiment of the invention.
Detailed Description
The embodiment of the application provides a wireless positioning method for a rail-mounted vehicle, and solves the problems that the vehicle positioning is distorted, long-distance measurement cannot be performed, and the service life of detection equipment is short in the prior art.
In order to solve the technical problems, the general idea of the embodiment of the application is as follows:
in the embodiment, the wheels of the vehicle running on the track are provided with the sensors and the wireless transmitting modules, and the sensors detect the running state of the vehicle and collect the running state data of the vehicle;
the sensor transmits the operation state data to the wireless transmitting module, and the wireless transmitting module sends the operation state data to the wireless receiving module; the wireless receiving module is connected with a control system, wherein the wireless receiving module transmits the received running state data to the control system so as to process the received running state data.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment provides a wireless positioning method for a rail vehicle, wherein a sensor and a wireless transmitting module are mounted on a wheel of the rail vehicle, as shown in fig. 1, the method comprises the following steps:
step S101, a sensor detects the running state of the vehicle and collects the running state data of the vehicle;
step S102, the sensor transmits the running state data to the wireless transmitting module;
step S103, the wireless transmitting module sends the running state data to a wireless receiving module;
step S104, the wireless receiving module transmits the received operation state data to the control system so as to process the received operation state data.
The following describes in detail implementation steps of the method provided in this embodiment with reference to fig. 1:
first, step S101 is performed, and a sensor detects the running state of the vehicle and collects running state data of the vehicle.
In one embodiment, the sensor is mounted on any one of the wheels of a rail-bound vehicle, without limitation, for example, the sensor is located on the front left wheel of the vehicle. During the movement of the rail vehicle, the sensor determines whether the movement direction of the vehicle is forward or backward by detecting the forward rotation or the reverse rotation of the wheel; determining a moving speed of the vehicle by detecting a rotational speed of the wheel; the distance of movement of the vehicle on the track is determined by counting the number of revolutions of the wheel. Then, the sensor converts the detected vehicle running state information into a pulse signal, and the motion direction of the vehicle is reflected through the positive and negative states of the pulse signal; reflecting the movement speed of the vehicle through the change of the pulse signal frequency; whether the vehicle moves or not is reflected by the presence or absence of the pulse signal.
Then, step S102 is executed, and the sensor transmits the operation state data to the wireless transmission module.
In the specific implementation process, the wireless transmitting module corresponding to the type of the received data is selected according to the type of the output signal of the sensor. For example, the sensor is an absolute encoder, the output hardware interface is RS485, and supports the communication protocol Profibus-DP, and then the wireless transmitting module should support the RS485 hardware interface and support the communication protocol Profibus-DP.
Next, step S103 is executed, and the wireless transmitting module sends the operating status data to a wireless receiving module.
In a specific implementation process, the receiving frequency of the wireless receiving module is adjusted to be consistent with the sending frequency of the wireless sending module, so that the wireless sending module sends the running state data out.
Finally, step S104 is executed, and the wireless receiving module transmits the received operation state data to the control system, so as to process the received operation state data.
Based on the present embodiment, the control system can obtain the following information: whether the vehicle running on the track moves, the moving direction, the moving speed or the moving distance. Based on the obtained information, the control system is able to control the vehicles running on the track. For example, if the delivery destination is 100m away from the vehicle starting point, and the control system knows that the vehicle running on the track has moved 90m towards the destination at this time, a deceleration instruction can be sent to the vehicle to control the vehicle to stop at the destination; when the vehicle should return to the starting point, the control system may confirm whether the moving direction of the vehicle is correct, and if the vehicle is traveling in the direction opposite to the expected direction, the control system may issue a command to stop traveling to the vehicle and issue a command to travel in the expected direction; for another example, the control system learns that the vehicle suddenly stops in the normal working process, and can send an inquiry command to the vehicle at the moment, and if the feedback of the vehicle is the misoperation of the system, the control system can send a correction command to guide the vehicle to continue working; if the vehicle feedback vehicle has a fault, the control system can remind the vehicle to repair the vehicle in time. In the implementation process, the control system can also perform more control actions on the vehicle according to the acquired vehicle running state information, which is not listed here.
Based on the same inventive concept, an embodiment of the present invention further provides a wireless positioning system for a rail-mounted vehicle, as shown in fig. 2, including:
the vehicle 201, the sensor 202 and the wireless transmitting module 203 which are installed on the wheels of the vehicle, and the wireless receiving module 204 and the control system 205 which are connected with the control system.
In a specific implementation, the vehicle 201 is any one of rail-mounted vehicles, such as a steel slag vehicle or a buggy ladle, or other rail-mounted vehicles known to those skilled in the art, and is not limited herein;
the sensor 202 and the wireless transmission module 203 are installed on the wheel of the vehicle, wherein the sensor is used for detecting the running state of the vehicle and collecting the running state data of the vehicle; the wireless transmitting module is used for transmitting the running state data to the wireless receiving module;
the wireless receiving module 204 is connected to the control system, and configured to transmit the received operation state data to the control system;
the control system 205 is configured to process the received operation state data.
Based on the same inventive concept, the embodiment of the invention also provides a rail-running vehicle, as shown in fig. 3, the vehicle 301 runs on a rail in a steel plant, and the vehicle 301 is provided with a sensor 302 and a wireless transmitting module 303 on wheels. In a specific implementation process, the vehicle 301 can detect the moving direction of the vehicle in real time through the sensor 302 during the moving process, for example, the vehicle moves forward on a track to reach a target position; or move backwards on the track and return to the origin. The self movement speed can be detected in real time, for example, the fact that the number of turns of the wheel rotating in unit time is large is detected, which indicates that the vehicle speed is high at the moment; or detecting that the wheel rotates for a few turns in unit time, indicating that the vehicle speed is low. The vehicle can also detect the running distance of the vehicle on the track, in the specific implementation process, the starting position of the vehicle on the track is known, and the running distance of the vehicle on the track can be known by counting the number of turns of the wheels of the vehicle, so that the distance of the vehicle from the destination can be calculated. The sensor 302 transmits the detected vehicle running state data to the wireless transmitting module 303, and the data is sent out by the wireless transmitting module 303;
the technical scheme in the embodiment of the application at least has the following technical effects or advantages:
1. data collected by the sensor is transmitted to the control system in a wireless transparent transmission mode through the wireless transmitting module and the wireless receiving module, so that interference of surrounding operation vehicles and personnel on a positioning source can be effectively avoided, the positioning precision is ensured, and equipment can be accurately controlled;
2. the sensor and the wireless transmitting module are positioned on the vehicle, so that the running state of the vehicle can be detected in real time, the limitation of the distance between the positioning device and the vehicle is avoided, and long-distance measurement can be realized;
3. because the sensor is installed on the vehicle instead of the track, the vehicle is prevented from being stressed by gravity, and the service life is long.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method of wirelessly locating a rail-bound vehicle, the vehicle having a wheel with a sensor and a wireless transmitter module mounted thereon, the method comprising:
the sensor detects the running state of the vehicle and collects the running state data of the vehicle;
the sensor transmits the operation state data to the wireless transmitting module, and the wireless transmitting module sends the operation state data to the wireless receiving module; the wireless receiving module is connected with a control system, wherein the wireless receiving module transmits the received running state data to the control system so as to process the received running state data.
2. The method of claim 1, wherein the sensor is an encoder, and the sensor and the wireless transmission module are coupled to be mounted together on a wheel of the vehicle for movement therewith.
3. The method of claim 1, wherein the sensor detecting the operational state of the vehicle comprises: the sensor detects whether the vehicle is moving, a moving direction, a moving speed or a moving distance.
4. The method of claim 1, wherein the operating condition data is a pulse signal, and the sensor transmits the pulse signal to a wireless transmission module, wherein the operating condition of the vehicle is indicated by the presence or absence of a pulse, the frequency of a pulse, or the positive or negative status of a pulse.
5. The method of claim 1, wherein the wireless transmitting module transmitting the operational status data to a wireless receiving module, comprising: and the wireless transmitting module transmits the running state data to a wireless receiving module, wherein the receiving frequency of the wireless receiving module is consistent with the transmitting frequency of the wireless transmitting module.
6. A wireless positioning system for a rail-bound vehicle, comprising: the vehicle, the sensor and the wireless transmitting module which are arranged on the wheel of the vehicle, and the wireless receiving module and the control system which are connected with the control system;
the sensor is used for detecting the running state of the vehicle, collecting the running state data of the vehicle and sending the running state data to the wireless sending module;
the wireless transmitting module is used for transmitting the running state data to the wireless receiving module;
the wireless receiving module is used for transmitting the received running state data to the control system;
the control system is used for processing the received running state data.
7. The system of claim 6, wherein said sensor is an encoder, said sensor and said wireless transmission module are connected and co-mounted on a wheel of said vehicle for movement therewith.
8. The system of claim 6, wherein the sensor detects an operational state of the vehicle, comprising: the sensor detects whether the vehicle is moving, a moving direction, a moving speed or a moving distance.
9. The system of claim 6, wherein the wireless transmission module supports a hardware interface and a communication protocol of the sensor.
10. A rail-bound vehicle, characterized in that the vehicle is a vehicle running on rails in a steel plant, and the wheels of the vehicle are provided with sensors and wireless transmitting modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110168374.4A CN112918521A (en) | 2021-02-07 | 2021-02-07 | Wireless positioning method and system for rail-mounted vehicles |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110168374.4A CN112918521A (en) | 2021-02-07 | 2021-02-07 | Wireless positioning method and system for rail-mounted vehicles |
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| CN112918521A true CN112918521A (en) | 2021-06-08 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1280325A (en) * | 1999-07-09 | 2001-01-17 | 太原理工大学 | Non-contact radio remote control type position sensor |
| CN103770583A (en) * | 2014-01-14 | 2014-05-07 | 深圳市豪恩汽车电子装备有限公司 | Automatic positioning device of tire pressure sensor and positioning method thereof |
| CN106061821A (en) * | 2013-12-24 | 2016-10-26 | 阿母斯替德铁路公司 | System and method for detecting operational anomalies in train consists and railcars |
| CN106289308A (en) * | 2016-09-22 | 2017-01-04 | 北京聚利科技股份有限公司 | The measuring method of vehicle tyre revolution, system and taxi pricing device |
| US20170192034A1 (en) * | 2016-01-05 | 2017-07-06 | Pasco Scientific | Wireless smart devices having integrated force, position, acceleration, and rotational sensing for science education |
-
2021
- 2021-02-07 CN CN202110168374.4A patent/CN112918521A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1280325A (en) * | 1999-07-09 | 2001-01-17 | 太原理工大学 | Non-contact radio remote control type position sensor |
| CN106061821A (en) * | 2013-12-24 | 2016-10-26 | 阿母斯替德铁路公司 | System and method for detecting operational anomalies in train consists and railcars |
| CN103770583A (en) * | 2014-01-14 | 2014-05-07 | 深圳市豪恩汽车电子装备有限公司 | Automatic positioning device of tire pressure sensor and positioning method thereof |
| US20170192034A1 (en) * | 2016-01-05 | 2017-07-06 | Pasco Scientific | Wireless smart devices having integrated force, position, acceleration, and rotational sensing for science education |
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Application publication date: 20210608 |